Changes for megageniale

SwarmUS · Nov 24, 2021 · e3516a8 · e3516a8
1 parent da24229
commit e3516a8
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Showing 5 changed files with 3 additions and 3 deletions.
diff --git a/src/calibration/hb_6/0_angleCalculatorParameters.pkl b/src/calibration/hb_6/0_angleCalculatorParameters.pkl
diff --git a/src/calibration/hb_6/1_angleCalculatorParameters.pkl b/src/calibration/hb_6/1_angleCalculatorParameters.pkl
diff --git a/src/calibration/hb_6/5_angleCalculatorParameters.pkl b/src/calibration/hb_6/5_angleCalculatorParameters.pkl
diff --git a/src/send_angle_params.py b/src/send_angle_params.py
@@ -5,8 +5,8 @@
 from src.hiveboard.proto.ethernet_stream import EthernetStream
 from src.hiveboard.usb_stream import UsbStream
 
-HIVEBOARD_ID = 2
-MOUNT_ORIENTATION_OFFSET = 0 # Orientation offset (in degrees) of the BeeBoard assembly on the robot
+HIVEBOARD_ID = 6
+MOUNT_ORIENTATION_OFFSET = -60 # Orientation offset (in degrees) of the BeeBoard assembly on the robot
 
 # To use ethernet, you must have a static IP of 192.168.1.101 on submask 255.255.255.0
 USE_ETHERNET = False

diff --git a/src/visualisation_tool/DataUpdater.py b/src/visualisation_tool/DataUpdater.py
@@ -80,7 +80,7 @@ def handle_neighbor_list(self, neighbor_list):
     def handle_neigbor_update(self, neighbor):
         neighbor_id = neighbor.neighbor_id
         self.new_polar_point.emit(neighbor_id, neighbor.position.distance, neighbor.position.azimuth)
-        y = neighbor.position.distance * np.cos(neighbor.position.azimuth / 180 * np.pi)
+        y = -neighbor.position.distance * np.cos(neighbor.position.azimuth / 180 * np.pi)
         x = neighbor.position.distance * np.sin(neighbor.position.azimuth / 180 * np.pi)
         self.new_cartesian_point.emit(neighbor_id, x, y)